EP3288723B1 - Robot tool for setting sealing plugs - Google Patents

Description

The invention relates to a robot tool for setting plugs in openings in a body component with a setting device. The invention further relates to a method for inserting plugs into an opening in a body component using the robot tool.

So that the liquid paint can flow out of the cavities again quickly after painting, these are provided with numerous, sometimes up to several hundred openings. Holes must also be provided to set welding spots. Wax can also be injected into the cavities through these openings in order to seal the body component. All openings must be closed again during installation to prevent the ingress of moisture or water and to protect the vehicle from corrosion during operation. The openings are closed with so-called plugs made of hard plastic, which are available in different diameters. The plugs are usually inserted by hand into the openings by employees.

This handling has several disadvantages. For the employee who puts the stopper, the work is not ergonomic because he has to bend down and stretch to put the stopper. In addition, it takes a lot of strength to push the plug into the respective opening, which is very tiring in the long run. This can lead to a decrease in concentration and thus to greater susceptibility to errors. Depending on the vehicle model, up to several hundred plugs have to be set, these are repeatedly distributed over the entire production and positioned by different employees at different stations. This requires a lot of manipulation, which must be learned by countless different employees with considerable training.

Due to the different diameters of the plugs, it is possible that they will be set incorrectly in individual cases. It cannot be ruled out that the respective plug is placed in the right place, but is not pressed into the body with sufficient force and therefore does not seal completely or even falls out while driving. Individual plugs can also simply be forgotten. This can allow moisture or water to penetrate the body and lead to corrosion.

After all, the openings are sharp-edged holes that could injure the worker when inserting the plugs.

There are also robot-assisted procedures for inserting the plugs. However, only one stopper can always be received on the setting device of the robot tool itself. It must also be returned to the reloading magazine after each stopper has been set. This wastes a lot of time.

The robot tool also works with vacuum or compressed air and requires an air supply in addition to the power connection. Compressed air in general is very energy-intensive to deploy. Furthermore, due to the necessary use of compressed air hoses, there is a risk of getting caught or tripping over it. H. Risk of injury.

Another disadvantage of the robot tools used so far is that they are not MRK-compliant (human-robot cooperation). The robot station is fenced in so that no one can work on the body component while the plug is being plugged. An MRK-compliant tool must be designed accordingly for lightweight robots with a power and force limitation according to the definition according to DIN ISO 10218 Part 1 & Part 2, in order to enable collaborative operation in accordance with TS-15066. It is important here that there is no danger from possible actuators of the tool.

It is also disadvantageous that the vacuum head of the robot tool that is usually used cannot be replaced. This means that only a specific plug with the right diameter for the vacuum head can be used. After the plug has been placed, the fit is also trusted without providing a check. If the stopper does not hold, moisture can penetrate as described.

Further state of the art in this area is, for example, from the documents DE 10 2014 004 046 A1 , DE 10 2010 010718 A1 , DE 21 44 359 A1 and EP 2366 506 A2 known.

The invention is therefore based on the object of providing a robot tool with which plugs can be set quickly and variably without constant reloading, and a permanent fit of the plugs is ensured. Furthermore, it is an object of the invention to provide a method with which the plugs can be placed faster and more securely against falling out by the robot tool.

These tasks are solved by the combination of features of the respective claims 1 and 7.

According to the invention, a robot tool for placing plugs in openings in a body component is provided with a setting device on which a plug magazine with a plurality of lined-up plugs is arranged, which can be placed directly in succession into the respective openings of the body component by means of the setting device, whereby on an outlet of the setting device is provided with a circumferential elastic lip which holds the plugs in the plug magazine and can be elastically bent by an axial movement of the plugs in the axial direction of the robot tool. The integration of the plug magazine and the setting device makes it possible to place a large number of plugs one after the other without the setting device having to take up a single plug again and again. A straight and ideally guided ejection is guaranteed by a precisely fitting guide of the plugs in the plug magazine. The integration of the elastic lip ensures that the plug is securely installed at the respective opening and retains the following plug in the plug magazine. Due to the elasticity there is no mechanical impact on the stopper itself, so that the assembly does not affect the previously defined and defined properties of the stopper.

According to the invention, it is provided that the elastic lip on the setting device is arranged axially spaced from an axial outer edge of the setting device. The distance ensures a flat contact of the setting device on the component to be provided with the plug before and after the setting of the Stuffing. According to the invention, in a preferred embodiment it is provided that the plugs each have a non-elastic cover, the foremost plug in the plug magazine being held in the region of the setting device by the elastic lip. The elastic lip engages around the cover of the stopper and fixes it in the correct position in the stopper magazine. The fact that the lid is non-elastic enables a predefined shape that remains unchanged during assembly.

The elastic lip lies against the respective cover of the foremost plug and is bent by the cover in the course of the pushing-out movement of the plug. As soon as the plug is placed on the component, the elastic lip folds back into the setting device and holds the subsequent plug in the magazine. During the setting movement, the elastic lip guides the plug in the axial setting direction and prevents tilting or oblique penetration into the opening of the component.

In a preferred embodiment of the invention, it is further provided that the robot tool is MRK-compliant and that the setting device can be guided successively to the respective openings in order to set the plugs. The positioning can be carried out automatically based on a camera or by any other method known from the prior art (for example a force-controlled positioning of the robot, positioning by means of sensors (capacitive, proximity switch, light sensor, etc.). The setting device is guided to the opening, the insertion of the The MRK-compliant design also makes it possible that, in addition to the setting of plugs, further work can be carried out on the body component and the setting of the plugs can be integrated into other assembly processes.

In a favorable exemplary embodiment, the invention further provides that the plugs come from the plug magazine accommodated in the setting device an electrical spindle drive can be pushed out in predefined steps, for example using a spindle motor. This makes it possible to position the plugs exactly with respect to the depth of penetration into the opening before and during the setting process. A preliminary position (preload) for better insertion of the plugs into the opening can also be ensured.

According to the invention, the setting device of the robot tool is designed to be exchangeable in one exemplary embodiment, so that different plugs can be placed in correspondingly different openings. Depending on the body and opening, different plug sizes and plug designs can be set.

The invention is also directed to a method for setting the plugs in the opening in the body component using the above-described robot tool with an electrical spindle drive and is characterized in that the plug to be set is first of all determined by a predetermined amount via the spindle drive of the setting device Pushed out the outlet of the setting device and the partially pushed out plug is inserted into the opening to be closed by means of the setting device so that part of the plug grips behind the opening, and finally the plug is pushed out of the setting device and the setting device is pulled off, with the elastic lip at Pushing out the stopper is bent and after pushing out the stopper retains the subsequent stopper of the stopper magazine. A process step is favorable in which the setting device is switched to oscillate freely so that the stopper is inserted The stopper is automatically positioned in the center of the opening to be closed using the oscillating movement of the setting device and the components connected to it. It is advantageous if the plug in the area to be inserted into the opening is conical.

By using the robot tool according to the invention and the corresponding method, no one has to perform an ergonomically unfavorable movement. The machine uses the force to set the plugs. Due to the quick setting process, many different employees no longer have to be commissioned to insert the plugs. You save training time and planning time, i.e. Time which the employee is busy with the installation for each vehicle. The robots insert the plugs faster than with manual work, which saves costs. Furthermore, the robot always places the plugs in the right place, regardless of their diameter. Errors can thus be reduced and the quality of setting can be increased. After all, the employee no longer comes into contact with the sharp-edged openings and can no longer hurt himself.

Compared to the previous robot-based tools, by lining up several plugs in the plug magazine, it is no longer necessary to insert a new plug after each insertion process. Time and costs can thus be saved. By using the spindle drive and the elimination of the compressed air vacuum mechanism, energy and costs are saved, on the one hand, and the compressed air hoses can also be dispensed with. This reduces the effort and the risk of accidents.

Thanks to the changeable setting device, the robot tool can be adapted to the respective requirement or the respective diameter of the plug. It can therefore be used universally.

Checking that the plug is correctly seated at the end of the setting process eliminates errors when setting or an incorrectly inserted plug the quality is improved.

The spindle motor (stepper motor) to be used, for example, allows an exact feed or an exact positioning of the plug in the setting device or at its outlet.

All features described above can be freely combined as far as this is technically possible.

Fig. 1

eine Schnittansicht eines Teils eines Roboterwerkzeugs gemäß der Erfindung;

Fig. 2

eine Detailansicht zu Figur 1.

Other advantageous developments of the invention are characterized in the subclaims or are shown in more detail below together with the description of the preferred embodiment of the invention with reference to the figures. Show it:

Fig. 1

a sectional view of a part of a robot tool according to the invention;

Fig. 2

a detailed view too Figure 1 .

The figures are exemplary schematic. The same reference numerals designate the same parts in all views.

In Figure 1 A part of a robot tool 1 for setting plugs 2 in openings in a body component is shown in a sectional view. The robot tool 1 comprises a setting device 3, on which a plug magazine 4 with a plurality of plugs 2 lined up therein is arranged. The plugs 2 lined up in the plug magazine 4 are removed from the outlet 9 via a slide 8 which can be displaced in the longitudinal direction by a spindle drive 7 predefined steps pushed out to ensure exact positioning of the plug 2 in the respective opening. The other components of the spindle drive 7 are not shown. The robot tool 1 is MRK-compliant and can have corresponding recordings (not shown) for human guidance for a partially automatic or manual operation. The setting device 3 has at its outlet 9 the elastic circumferential lip 10, via which the non-elastic cover 22 of the stopper 2 is held. The setting device 3 is removably attached to the plug magazine 4, for example screwed on.

In Figure 2 a detailed view of a setting device 3 of a robot tool 1 arranged on the plug magazine 4 is shown, in which the elastic lip 10 is bent in the axial direction by the cover 22 of the foremost plug 2 '. In the state shown, the foremost plug 2 'is being pushed out of the plug magazine 4. After the plug 2 'emerges, the elastic lip 10 folds back into a horizontal position. The elastic lip 10 is arranged at a distance from the axial outer edge of the setting device 3.

In the method for inserting the stopper 2 into the opening in a body component, the slide 8 is displaced in the longitudinal direction via the spindle drive 7, as a result of which the stopper 2 can be pushed out of the stopper magazine 4 one after the other by the inserting device 3. In a state pushed out of the outlet 9 of the setting device 3 by a predetermined amount, the plug 2 is inserted into the opening to be closed, so that the rear grip portion 21 of the plug 2 engages behind the opening wall. To insert the stopper 2, the setting device 3 and the connected components are switched to oscillate freely, so that the stopper 2 is automatically centered on the one to be closed by the oscillating movement of the setting device 3 Opening positioned. The rear grip portion 21 of the plug 2 thus securely engages behind the wall of the opening. The plug 2 is finally pushed completely out of the plug magazine 4 by the spindle drive 7.

To refill the plug magazine 4, this can be exchanged or a stack of plugs 2 can be slipped over or run over with the setting device 3, the spindle drive 7 slowly moving in the opposite direction analogous to the slipping speed of the robot in order to incorrectly orient the plug 2 (turning 180 degrees in Magazine) to prevent. The stack of plugs 2 is preferably arranged in a guide. For this purpose, the lip 10 can be bent inwards.

The embodiment of the invention is not limited to the preferred exemplary embodiments specified above. Rather, a number of variants are conceivable which make use of the solution shown even in the case of fundamentally different types, provided that they correspond to the definition of the robot tool or the method according to one of the following claims. For example, other plug structures are possible which are adapted to the corresponding openings and wall thicknesses. Furthermore, the elastic lip can be made of different materials, as long as a sufficient holding and guiding function and an adequate force for bending is ensured.

Claims (8)

1. A robot tool for placing plugs (2) into openings in a vehicle body component, with a placement means (3) on which is arranged a plug magazine (4) with a large number of lined-up plugs (2), which plugs can be placed by means of the placement means (3) without reloading and directly in succession into the respective openings in the vehicle body component, wherein an encircling elastic lip (10) is provided on an outlet of the placement means (3), which lip holds the plugs (2) in the plug magazine (4) and by an axial movement of the plugs (2) can be bent over elastically in the axial direction of the robot tool (1), and wherein the elastic lip (10) is arranged on the placement means (3), axially spaced apart from an axial outer edge (13) of the placement means (3).
2. A robot tool according to Claim 1, characterised in that the plugs (2) in each case have a non-elastic cover (22), with the foremost plug (2') in the region of the placement means (3) being held on the cover (22) by the elastic lip (10).
3. A robot tool according to the preceding claim, characterised in that the elastic lip (10) bears on the respective cover (22) of the foremost plug (2') and in the course of a pushing-out movement of the plug (2') serves as a guide for the plug (2') and can be bent over by the cover (22).
4. A robot tool according to at least one of the preceding claims, characterised in that it is suitable for HRC and the placement means (3) can be guided to the openings in succession in automated manner.
5. A robot tool according to at least one of the preceding claims, characterised in that the plugs (2) can be pushed out of the plug magazine, which is accommodated in the placement means (3), in predefined steps by way of an electric spindle drive (7).
6. A robot tool according to at least one of the preceding claims, characterised in that the placement means (3) is exchangeable, so that different plugs (2) can be placed into correspondingly different openings.
7. A method for placing a plug into an opening in a vehicle body component using the robot tool (1) according to Claim 5, characterised in that, by way of the spindle drive (7) of the placement means (3), the plug (2) which is to be placed is pushed out of the outlet of the placement means (3) by a predetermined amount, and the partially pushed-out plug (2) by means of the placement means (3) is inserted in automated manner into the opening which is to be closed, so that part of the plug (2) engages in holding manner in the opening from behind, and the plug (2) is pushed out of the placement means (3) and the placement means (3) is withdrawn, with the elastic lip (10) being bent over upon the plug (2) being pushed out, and once the plug (2) has been pushed out retaining the following plug of the plug magazine (4).
8. A method according to the preceding claim, characterised in that in order to insert the plug (2) the placement means (3) is switched to oscillate freely, with the plug (2) by way of the oscillating movement of the placement means (3) being positioned independently centrally to the opening which is to be closed.

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